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<h1>pwmout.c</h1><a href="pwmout_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">// MakingThings - Make Controller Board - 2006</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">/** \file pwmout.c  </span>
<a name="l00021"></a>00021 <span class="comment">  PWM Out.</span>
<a name="l00022"></a>00022 <span class="comment">  Library of functions for the Make Application Board's PwmOut Subsystem.</span>
<a name="l00023"></a>00023 <span class="comment">*/</span>
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include "pwmout.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "pwm.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "config.h"</span>
<a name="l00028"></a>00028 
<a name="l00029"></a>00029 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00030"></a>00030 
<a name="l00031"></a>00031 <span class="preprocessor">#if ( APPBOARD_VERSION == 50 )</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_0_IO_A IO_PA02</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_0_IO_B IO_PA02</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_1_IO_A IO_PA02</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_1_IO_B IO_PA02</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_2_IO_A IO_PA02</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_2_IO_B IO_PA02</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_3_IO_A IO_PA02</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_3_IO_B IO_PA02</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#if ( APPBOARD_VERSION == 90 )</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_0_IO_A IO_PB23</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_0_IO_B IO_PA26</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_1_IO_A IO_PA25</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_1_IO_B IO_PB25</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_2_IO_A IO_PA02</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_2_IO_B IO_PA06</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_3_IO_A IO_PA05</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_3_IO_B IO_PA24</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#if ( APPBOARD_VERSION == 95 || APPBOARD_VERSION == 100 )</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_0_IO_A IO_PA24</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_0_IO_B IO_PA05</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_1_IO_A IO_PA06</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_1_IO_B IO_PA02</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_2_IO_A IO_PB25</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_2_IO_B IO_PA25</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_3_IO_A IO_PA26</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">  #define PWMOUT_3_IO_B IO_PB23</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00061"></a>00061 <span class="preprocessor"></span>
<a name="l00062"></a>00062 <span class="preprocessor">#define PWMOUT_COUNT 4</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span>
<a name="l00064"></a>00064 <span class="keyword">static</span> <span class="keywordtype">int</span> PwmOut_Start( <span class="keywordtype">int</span> motor );
<a name="l00065"></a>00065 <span class="keyword">static</span> <span class="keywordtype">int</span> PwmOut_Stop( <span class="keywordtype">int</span> motor );
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 <span class="keyword">static</span> <span class="keywordtype">int</span> PwmOut_users[ PWMOUT_COUNT ];  
<a name="l00068"></a>00068 
<a name="l00069"></a>00069 <span class="keyword">static</span> <span class="keywordtype">void</span> PwmOut_GetIos( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span>* ioA, <span class="keywordtype">int</span>* ioB );
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment">/** \defgroup PwmOut</span>
<a name="l00072"></a>00072 <span class="comment">  The PWM Out subsystem underlies the DC Motor subsystem and controls the 4 PWM signals on the SAM7X.</span>
<a name="l00073"></a>00073 <span class="comment">  Each PWM device controls a pair of Digital Outs - an A and a B channel:</span>
<a name="l00074"></a>00074 <span class="comment">  - PwmOut 0 - Digital Outs 0 (A) and 1 (B).</span>
<a name="l00075"></a>00075 <span class="comment">  - PwmOut 1 - Digital Outs 2 (A) and 3 (B).</span>
<a name="l00076"></a>00076 <span class="comment">  - PwmOut 2 - Digital Outs 4 (A) and 5 (B).</span>
<a name="l00077"></a>00077 <span class="comment">  - PwmOut 3 - Digital Outs 6 (A) and 7 (B).</span>
<a name="l00078"></a>00078 <span class="comment">  </span>
<a name="l00079"></a>00079 <span class="comment">  The A and B channels of a PWM device can be set independently to be inverted, or not, from one another</span>
<a name="l00080"></a>00080 <span class="comment">  in order to control motors, lights, etc.</span>
<a name="l00081"></a>00081 <span class="comment">  \ingroup AppBoard</span>
<a name="l00082"></a>00082 <span class="comment">  @{</span>
<a name="l00083"></a>00083 <span class="comment">*/</span>
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment">/**</span>
<a name="l00086"></a>00086 <span class="comment">  Sets whether the specified PWM device is active.</span>
<a name="l00087"></a>00087 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00088"></a>00088 <span class="comment">  @param state An integer specifying the active state - 1 (active) or 0 (inactive).</span>
<a name="l00089"></a>00089 <span class="comment">  @return Zero on success.</span>
<a name="l00090"></a>00090 <span class="comment">*/</span>
<a name="l00091"></a><a class="code" href="group___pwm_out.html#gacf6fba798cec68ce1ffe52e6908e380">00091</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#gacf6fba798cec68ce1ffe52e6908e380" title="Sets whether the specified PWM device is active.">PwmOut_SetActive</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> state )
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= PWMOUT_COUNT )
<a name="l00094"></a>00094     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00095"></a>00095 
<a name="l00096"></a>00096   <span class="keywordflow">if</span> ( state )
<a name="l00097"></a>00097     <span class="keywordflow">return</span> PwmOut_Start( index );
<a name="l00098"></a>00098   <span class="keywordflow">else</span>
<a name="l00099"></a>00099     <span class="keywordflow">return</span> PwmOut_Stop( index );
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment">/**</span>
<a name="l00103"></a>00103 <span class="comment">  Returns the active state of the LED.</span>
<a name="l00104"></a>00104 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00105"></a>00105 <span class="comment">  @return Zero on success.</span>
<a name="l00106"></a>00106 <span class="comment">*/</span>
<a name="l00107"></a><a class="code" href="group___pwm_out.html#g7d914ae310aee915ace97caf6d9458ef">00107</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#g7d914ae310aee915ace97caf6d9458ef" title="Returns the active state of the LED.">PwmOut_GetActive</a>( <span class="keywordtype">int</span> index )
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= PWMOUT_COUNT )
<a name="l00110"></a>00110     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00111"></a>00111   <span class="keywordflow">return</span> PwmOut_users[ index ] &gt; 0;
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment">/** </span>
<a name="l00115"></a>00115 <span class="comment">  Set the speed of a PWM device.</span>
<a name="l00116"></a>00116 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00117"></a>00117 <span class="comment">  @param duty An integer (0 - 1023) specifying the duty.</span>
<a name="l00118"></a>00118 <span class="comment">  @return Zero on success.</span>
<a name="l00119"></a>00119 <span class="comment">*/</span>
<a name="l00120"></a><a class="code" href="group___pwm_out.html#g7274bfadd63e562e9dcad4b17bb19415">00120</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#g7274bfadd63e562e9dcad4b17bb19415" title="Set the speed of a PWM device.">PwmOut_SetDuty</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> duty )
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00123"></a>00123     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00124"></a>00124 
<a name="l00125"></a>00125   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00126"></a>00126   {
<a name="l00127"></a>00127     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00128"></a>00128     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00129"></a>00129       <span class="keywordflow">return</span> status;
<a name="l00130"></a>00130   }
<a name="l00131"></a>00131 
<a name="l00132"></a>00132   <span class="keywordflow">return</span> <a class="code" href="group___pwm.html#g87d5172375c765fb58fe9c8e160b9314" title="Set the duty of a PWM device.">Pwm_Set</a>( index, duty );
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment">/** </span>
<a name="l00136"></a>00136 <span class="comment">  Read the current duty of a PWM device.</span>
<a name="l00137"></a>00137 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00138"></a>00138 <span class="comment">  @return The duty (0 - 1023).</span>
<a name="l00139"></a>00139 <span class="comment">*/</span>
<a name="l00140"></a><a class="code" href="group___pwm_out.html#g6f26406258e6fc3886597a5a6402e9f8">00140</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#g6f26406258e6fc3886597a5a6402e9f8" title="Read the current duty of a PWM device.">PwmOut_GetDuty</a>( <span class="keywordtype">int</span> index )
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00143"></a>00143     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00144"></a>00144 
<a name="l00145"></a>00145   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00146"></a>00146   {
<a name="l00147"></a>00147     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00148"></a>00148     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00149"></a>00149       <span class="keywordflow">return</span> status;
<a name="l00150"></a>00150   }
<a name="l00151"></a>00151 
<a name="l00152"></a>00152   <span class="keywordflow">return</span> <a class="code" href="group___pwm.html#gbf3d245344f8c58725d1d0ffc013fedd" title="Read the current duty of a PWM device.">Pwm_Get</a>( index );
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment">/** </span>
<a name="l00156"></a>00156 <span class="comment">  Set whether the A channel associated with a PWM out should be inverted.</span>
<a name="l00157"></a>00157 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00158"></a>00158 <span class="comment">  @param invert A character specifying the inversion - 1/non-zero (inverted) 0 (normal).</span>
<a name="l00159"></a>00159 <span class="comment">  @return Zero on success.</span>
<a name="l00160"></a>00160 <span class="comment">*/</span>
<a name="l00161"></a><a class="code" href="group___pwm_out.html#gff93dbb3a903c93cfe40b2776b085187">00161</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#gff93dbb3a903c93cfe40b2776b085187" title="Set whether the A channel associated with a PWM out should be inverted.">PwmOut_SetInvertA</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">char</span> invert )
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00164"></a>00164     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00165"></a>00165 
<a name="l00166"></a>00166   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00167"></a>00167   {
<a name="l00168"></a>00168     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00169"></a>00169     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00170"></a>00170       <span class="keywordflow">return</span> status;
<a name="l00171"></a>00171   }
<a name="l00172"></a>00172 
<a name="l00173"></a>00173   <span class="comment">// Look up the IO that are involved</span>
<a name="l00174"></a>00174   <span class="keywordtype">int</span> ioA;
<a name="l00175"></a>00175   <span class="keywordtype">int</span> ioB;
<a name="l00176"></a>00176   PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00177"></a>00177     
<a name="l00178"></a>00178   <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioA, !invert );
<a name="l00179"></a>00179 
<a name="l00180"></a>00180   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00181"></a>00181 }
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment">/** </span>
<a name="l00184"></a>00184 <span class="comment">  Read whether the A channel of a PWM device is inverted.</span>
<a name="l00185"></a>00185 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00186"></a>00186 <span class="comment">  @return The inversion - 1/non-zero (inverted) or 0 (normal).</span>
<a name="l00187"></a>00187 <span class="comment">*/</span>
<a name="l00188"></a><a class="code" href="group___pwm_out.html#g00d5e809db127e369284f5613ebb3ee2">00188</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#g00d5e809db127e369284f5613ebb3ee2" title="Read whether the A channel of a PWM device is inverted.">PwmOut_GetInvertA</a>( <span class="keywordtype">int</span> index )
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00191"></a>00191     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00192"></a>00192 
<a name="l00193"></a>00193   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00194"></a>00194   {
<a name="l00195"></a>00195     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00196"></a>00196     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00197"></a>00197       <span class="keywordflow">return</span> status;
<a name="l00198"></a>00198   }
<a name="l00199"></a>00199 
<a name="l00200"></a>00200   <span class="comment">// Look up the IO that are involved</span>
<a name="l00201"></a>00201   <span class="keywordtype">int</span> ioA;
<a name="l00202"></a>00202   <span class="keywordtype">int</span> ioB;
<a name="l00203"></a>00203   PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00204"></a>00204     
<a name="l00205"></a>00205   <span class="keywordflow">return</span> <a class="code" href="group___io.html#gfdcf7332d0ae5b38d2a776fb6cc5ba7b" title="Read whether an IO line, presumably set as an output, is on or off.">Io_GetValue</a>( ioA );
<a name="l00206"></a>00206 }
<a name="l00207"></a>00207 <span class="comment"></span>
<a name="l00208"></a>00208 <span class="comment">/** </span>
<a name="l00209"></a>00209 <span class="comment">  Read whether the B channel of a PWM out is inverted.</span>
<a name="l00210"></a>00210 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00211"></a>00211 <span class="comment">  @param invert A character specifying the inversion - 1/non-zero (inverted) 0 (normal).</span>
<a name="l00212"></a>00212 <span class="comment">  @return Zero on success.</span>
<a name="l00213"></a>00213 <span class="comment">*/</span>
<a name="l00214"></a><a class="code" href="group___pwm_out.html#gf19ae422767d01e401b2475c4d7609ea">00214</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#gf19ae422767d01e401b2475c4d7609ea" title="Read whether the B channel of a PWM out is inverted.">PwmOut_SetInvertB</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">char</span> invert )
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00217"></a>00217     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00218"></a>00218 
<a name="l00219"></a>00219   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00220"></a>00220   {
<a name="l00221"></a>00221     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00222"></a>00222     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00223"></a>00223       <span class="keywordflow">return</span> status;
<a name="l00224"></a>00224   }
<a name="l00225"></a>00225 
<a name="l00226"></a>00226   <span class="comment">// Look up the IO that are involved</span>
<a name="l00227"></a>00227   <span class="keywordtype">int</span> ioA;
<a name="l00228"></a>00228   <span class="keywordtype">int</span> ioB;
<a name="l00229"></a>00229   PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00230"></a>00230     
<a name="l00231"></a>00231   <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioB, !invert );
<a name="l00232"></a>00232 
<a name="l00233"></a>00233   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00234"></a>00234 }
<a name="l00235"></a>00235 <span class="comment"></span>
<a name="l00236"></a>00236 <span class="comment">/** </span>
<a name="l00237"></a>00237 <span class="comment">  Read whether the B channel of a PWM device is inverted.</span>
<a name="l00238"></a>00238 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00239"></a>00239 <span class="comment">  @return The inversion - 1/non-zero (inverted) or 0 (normal).</span>
<a name="l00240"></a>00240 <span class="comment">*/</span>
<a name="l00241"></a><a class="code" href="group___pwm_out.html#g44301bb525ba9249d9e33efa49e959c9">00241</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#g44301bb525ba9249d9e33efa49e959c9" title="Read whether the B channel of a PWM device is inverted.">PwmOut_GetInvertB</a>( <span class="keywordtype">int</span> index )
<a name="l00242"></a>00242 {
<a name="l00243"></a>00243   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00244"></a>00244     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00245"></a>00245 
<a name="l00246"></a>00246   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00247"></a>00247   {
<a name="l00248"></a>00248     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00249"></a>00249     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00250"></a>00250       <span class="keywordflow">return</span> status;
<a name="l00251"></a>00251   }
<a name="l00252"></a>00252 
<a name="l00253"></a>00253   <span class="comment">// Look up the IO that are involved</span>
<a name="l00254"></a>00254   <span class="keywordtype">int</span> ioA;
<a name="l00255"></a>00255   <span class="keywordtype">int</span> ioB;
<a name="l00256"></a>00256   PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00257"></a>00257     
<a name="l00258"></a>00258   <span class="keywordflow">return</span> <a class="code" href="group___io.html#gfdcf7332d0ae5b38d2a776fb6cc5ba7b" title="Read whether an IO line, presumably set as an output, is on or off.">Io_GetValue</a>( ioB );
<a name="l00259"></a>00259 }
<a name="l00260"></a>00260 
<a name="l00261"></a>00261 <span class="comment"></span>
<a name="l00262"></a>00262 <span class="comment">/** </span>
<a name="l00263"></a>00263 <span class="comment">  Set whether the 2 channels of a PWM device are inverted.</span>
<a name="l00264"></a>00264 <span class="comment">  This is a convenience function, and is equivalent to making separate calls to PwmOut_SetInvertA() and PwmOut_SetInvertB().</span>
<a name="l00265"></a>00265 <span class="comment">  @param index An integer specifying which PWM device (0-3).</span>
<a name="l00266"></a>00266 <span class="comment">  @param invertA A character specifying the inversion of the A channel - 1/non-zero (inverted) or 0 (normal).</span>
<a name="l00267"></a>00267 <span class="comment">  @param invertB A character specifying the inversion of the B channel - 1/non-zero (inverted) or 0 (normal).</span>
<a name="l00268"></a>00268 <span class="comment">  @return Zero on success.</span>
<a name="l00269"></a>00269 <span class="comment">*/</span>
<a name="l00270"></a><a class="code" href="group___pwm_out.html#g1e0bc39ca678a911351a3b36c5c579dd">00270</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#g1e0bc39ca678a911351a3b36c5c579dd" title="Set whether the 2 channels of a PWM device are inverted.">PwmOut_SetInvert</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">char</span> invertA, <span class="keywordtype">char</span> invertB )
<a name="l00271"></a>00271 {
<a name="l00272"></a>00272   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00273"></a>00273     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00274"></a>00274 
<a name="l00275"></a>00275   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00276"></a>00276   {
<a name="l00277"></a>00277     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00278"></a>00278     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00279"></a>00279       <span class="keywordflow">return</span> status;
<a name="l00280"></a>00280   }
<a name="l00281"></a>00281 
<a name="l00282"></a>00282   <span class="comment">// Look up the IO that are involved</span>
<a name="l00283"></a>00283   <span class="keywordtype">int</span> ioA;
<a name="l00284"></a>00284   <span class="keywordtype">int</span> ioB;
<a name="l00285"></a>00285   PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00286"></a>00286     
<a name="l00287"></a>00287   <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioA, !invertA );
<a name="l00288"></a>00288   <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioB, !invertB );
<a name="l00289"></a>00289 
<a name="l00290"></a>00290   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00291"></a>00291 }
<a name="l00292"></a>00292 <span class="comment"></span>
<a name="l00293"></a>00293 <span class="comment">/** </span>
<a name="l00294"></a>00294 <span class="comment">  Set the duty and the inversion of both channels of a PWM device.</span>
<a name="l00295"></a>00295 <span class="comment">  This is a convenience function to set all the properties of a PWM device in a single call.\n</span>
<a name="l00296"></a>00296 <span class="comment">  It is equivalent to separate calls to PwmOut_SetInvert() and PwmOut_SetDuty().</span>
<a name="l00297"></a>00297 <span class="comment">  @param index An integer specifying which PWM out.</span>
<a name="l00298"></a>00298 <span class="comment">  @param duty An integer specifying the duty (0 - 1023).</span>
<a name="l00299"></a>00299 <span class="comment">  @param invertA A character specifying the inversion of the A channel - 1/non-zero (inverted) or 0 (normal).</span>
<a name="l00300"></a>00300 <span class="comment">  @param invertB A character specifying the inversion of the B channel - 1/non-zero (inverted) or 0 (normal).</span>
<a name="l00301"></a>00301 <span class="comment">  @return Zero on success</span>
<a name="l00302"></a>00302 <span class="comment">*/</span>
<a name="l00303"></a><a class="code" href="group___pwm_out.html#gba27993e99ff3cff0537ce050884f880">00303</a> <span class="keywordtype">int</span> <a class="code" href="group___pwm_out.html#gba27993e99ff3cff0537ce050884f880" title="Set the duty and the inversion of both channels of a PWM device.">PwmOut_SetAll</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> duty, <span class="keywordtype">char</span> invertA, <span class="keywordtype">char</span> invertB )
<a name="l00304"></a>00304 {
<a name="l00305"></a>00305   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00306"></a>00306     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00307"></a>00307 
<a name="l00308"></a>00308   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt; 1 )
<a name="l00309"></a>00309   {
<a name="l00310"></a>00310     <span class="keywordtype">int</span> status = PwmOut_Start( index );
<a name="l00311"></a>00311     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00312"></a>00312       <span class="keywordflow">return</span> status;
<a name="l00313"></a>00313   }
<a name="l00314"></a>00314 
<a name="l00315"></a>00315   <span class="comment">// Look up the IO that are involved</span>
<a name="l00316"></a>00316   <span class="keywordtype">int</span> ioA;
<a name="l00317"></a>00317   <span class="keywordtype">int</span> ioB;
<a name="l00318"></a>00318   PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00319"></a>00319     
<a name="l00320"></a>00320   <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioA, !invertA );
<a name="l00321"></a>00321   <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioB, !invertB );
<a name="l00322"></a>00322 
<a name="l00323"></a>00323   <span class="keywordflow">return</span> <a class="code" href="group___pwm.html#g87d5172375c765fb58fe9c8e160b9314" title="Set the duty of a PWM device.">Pwm_Set</a>( index, duty );;
<a name="l00324"></a>00324 }
<a name="l00325"></a>00325 <span class="comment"></span>
<a name="l00326"></a>00326 <span class="comment">/** @}</span>
<a name="l00327"></a>00327 <span class="comment">*/</span>
<a name="l00328"></a>00328 
<a name="l00329"></a>00329 <span class="keywordtype">int</span> PwmOut_Start( <span class="keywordtype">int</span> index )
<a name="l00330"></a>00330 {
<a name="l00331"></a>00331   <span class="keywordtype">int</span> status;
<a name="l00332"></a>00332 
<a name="l00333"></a>00333   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00334"></a>00334     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00335"></a>00335 
<a name="l00336"></a>00336   <span class="keywordflow">if</span> ( PwmOut_users[ index ]++ == 0 )
<a name="l00337"></a>00337   {
<a name="l00338"></a>00338     <span class="comment">// Look up the IO's that will be used</span>
<a name="l00339"></a>00339     <span class="keywordtype">int</span> ioA;
<a name="l00340"></a>00340     <span class="keywordtype">int</span> ioB;
<a name="l00341"></a>00341     PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00342"></a>00342   
<a name="l00343"></a>00343     <span class="comment">// Try to get the IO's</span>
<a name="l00344"></a>00344     status = Io_Start( ioA, <span class="keyword">true</span> );
<a name="l00345"></a>00345     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00346"></a>00346     {
<a name="l00347"></a>00347       PwmOut_users[ index ]--;
<a name="l00348"></a>00348       <span class="keywordflow">return</span> status;
<a name="l00349"></a>00349     }
<a name="l00350"></a>00350   
<a name="l00351"></a>00351     status = Io_Start( ioB, <span class="keyword">true</span> );
<a name="l00352"></a>00352     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00353"></a>00353     {
<a name="l00354"></a>00354       PwmOut_users[ index ]--;
<a name="l00355"></a>00355       <span class="comment">// better give back ioA since we did get that</span>
<a name="l00356"></a>00356       Io_Stop( ioA );
<a name="l00357"></a>00357       <span class="keywordflow">return</span> status;
<a name="l00358"></a>00358     }
<a name="l00359"></a>00359     
<a name="l00360"></a>00360     <span class="comment">// Make sure we can get the PWM channel</span>
<a name="l00361"></a>00361     status = Pwm_Start( index );
<a name="l00362"></a>00362     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00363"></a>00363     {
<a name="l00364"></a>00364       PwmOut_users[ index ]--;
<a name="l00365"></a>00365       <span class="comment">// better give back the io's since we did get them</span>
<a name="l00366"></a>00366       Io_Stop( ioA );
<a name="l00367"></a>00367       Io_Stop( ioB );
<a name="l00368"></a>00368       <span class="keywordflow">return</span> status;
<a name="l00369"></a>00369     }
<a name="l00370"></a>00370 
<a name="l00371"></a>00371     <span class="comment">// Set all the io's right</span>
<a name="l00372"></a>00372   
<a name="l00373"></a>00373     <span class="comment">// Enable as PIOs</span>
<a name="l00374"></a>00374     Io_PioEnable( ioA );
<a name="l00375"></a>00375     Io_PioEnable( ioB );
<a name="l00376"></a>00376   
<a name="l00377"></a>00377     <span class="comment">// Switch them off</span>
<a name="l00378"></a>00378     Io_SetFalse( ioA );
<a name="l00379"></a>00379     Io_SetFalse( ioB );
<a name="l00380"></a>00380   
<a name="l00381"></a>00381     <span class="comment">// Turn them into outputs</span>
<a name="l00382"></a>00382     Io_SetOutput( ioA );
<a name="l00383"></a>00383     Io_SetOutput( ioB );
<a name="l00384"></a>00384 
<a name="l00385"></a>00385     <a class="code" href="group___pwm_out.html#g7274bfadd63e562e9dcad4b17bb19415" title="Set the speed of a PWM device.">PwmOut_SetDuty</a>( index, 0 );
<a name="l00386"></a>00386     Io_SetTrue( ioA );
<a name="l00387"></a>00387   }
<a name="l00388"></a>00388 
<a name="l00389"></a>00389   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00390"></a>00390 }
<a name="l00391"></a>00391 
<a name="l00392"></a>00392 <span class="keywordtype">int</span> PwmOut_Stop( <span class="keywordtype">int</span> index )
<a name="l00393"></a>00393 {
<a name="l00394"></a>00394   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt; 3 )
<a name="l00395"></a>00395     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00396"></a>00396   
<a name="l00397"></a>00397   <span class="keywordflow">if</span> ( PwmOut_users[ index ] &lt;= 0 )
<a name="l00398"></a>00398     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g9ef65cc96e45d38307f661b86c330548" title="Lock attempt was unsuccessful.">CONTROLLER_ERROR_NOT_LOCKED</a>;
<a name="l00399"></a>00399 
<a name="l00400"></a>00400   <span class="keywordflow">if</span> ( --PwmOut_users[ index ] == 0 )
<a name="l00401"></a>00401   {
<a name="l00402"></a>00402     <span class="comment">// Look up the IO's that are involved</span>
<a name="l00403"></a>00403     <span class="keywordtype">int</span> ioA;
<a name="l00404"></a>00404     <span class="keywordtype">int</span> ioB;
<a name="l00405"></a>00405     PwmOut_GetIos( index, &amp;ioA, &amp;ioB );
<a name="l00406"></a>00406   
<a name="l00407"></a>00407     <span class="comment">// Turn them off</span>
<a name="l00408"></a>00408     <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioA, <span class="keyword">false</span> );
<a name="l00409"></a>00409     <a class="code" href="group___io.html#g31c976a85de4306c66be6b4c441d3892" title="Turn an IO line on or off.">Io_SetValue</a>( ioB, <span class="keyword">false</span> );
<a name="l00410"></a>00410 
<a name="l00411"></a>00411     Io_Stop( ioA );
<a name="l00412"></a>00412     Io_Stop( ioB );
<a name="l00413"></a>00413 
<a name="l00414"></a>00414     Pwm_Stop( index );
<a name="l00415"></a>00415   }
<a name="l00416"></a>00416 
<a name="l00417"></a>00417   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00418"></a>00418 }
<a name="l00419"></a>00419 
<a name="l00420"></a>00420 <span class="keywordtype">void</span> PwmOut_GetIos( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span>* ioA, <span class="keywordtype">int</span>* ioB )
<a name="l00421"></a>00421 { 
<a name="l00422"></a>00422   <span class="keywordflow">switch</span> ( index )
<a name="l00423"></a>00423   {
<a name="l00424"></a>00424     <span class="keywordflow">case</span> 0:
<a name="l00425"></a>00425       *ioA = PWMOUT_0_IO_A;
<a name="l00426"></a>00426       *ioB = PWMOUT_0_IO_B;
<a name="l00427"></a>00427       <span class="keywordflow">break</span>;
<a name="l00428"></a>00428     <span class="keywordflow">case</span> 1:
<a name="l00429"></a>00429       *ioA = PWMOUT_1_IO_A;
<a name="l00430"></a>00430       *ioB = PWMOUT_1_IO_B;
<a name="l00431"></a>00431       <span class="keywordflow">break</span>;
<a name="l00432"></a>00432     <span class="keywordflow">case</span> 2:
<a name="l00433"></a>00433       *ioA = PWMOUT_2_IO_A;
<a name="l00434"></a>00434       *ioB = PWMOUT_2_IO_B;
<a name="l00435"></a>00435       <span class="keywordflow">break</span>;
<a name="l00436"></a>00436     <span class="keywordflow">case</span> 3:
<a name="l00437"></a>00437       *ioA = PWMOUT_3_IO_A;
<a name="l00438"></a>00438       *ioB = PWMOUT_3_IO_B;
<a name="l00439"></a>00439       <span class="keywordflow">break</span>;
<a name="l00440"></a>00440     <span class="keywordflow">default</span>:
<a name="l00441"></a>00441       *ioA = 0;
<a name="l00442"></a>00442       *ioB = 0;
<a name="l00443"></a>00443       <span class="keywordflow">break</span>;
<a name="l00444"></a>00444   }
<a name="l00445"></a>00445 }
<a name="l00446"></a>00446 
<a name="l00447"></a>00447 <span class="preprocessor">#ifdef OSC</span>
<a name="l00448"></a>00448 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00449"></a>00449 <span class="comment">/** \defgroup PWMOutOSC PWM Out - OSC</span>
<a name="l00450"></a>00450 <span class="comment">  Generate PWM signals with the Application Board via OSC.</span>
<a name="l00451"></a>00451 <span class="comment">  \ingroup OSC</span>
<a name="l00452"></a>00452 <span class="comment">  </span>
<a name="l00453"></a>00453 <span class="comment">  \section devices Devices</span>
<a name="l00454"></a>00454 <span class="comment">  There are 4 PWM controllers available on the Application Board, numbered 0 - 3.</span>
<a name="l00455"></a>00455 <span class="comment">  </span>
<a name="l00456"></a>00456 <span class="comment">  Each PWM Out controls a pair of Digital Outs - an A and a B channel:</span>
<a name="l00457"></a>00457 <span class="comment">  - PwmOut 0 - Digital Outs 0 (A) and 1 (B).</span>
<a name="l00458"></a>00458 <span class="comment">  - PwmOut 1 - Digital Outs 2 (A) and 3 (B).</span>
<a name="l00459"></a>00459 <span class="comment">  - PwmOut 2 - Digital Outs 4 (A) and 5 (B).</span>
<a name="l00460"></a>00460 <span class="comment">  - PwmOut 3 - Digital Outs 6 (A) and 7 (B).</span>
<a name="l00461"></a>00461 <span class="comment">  </span>
<a name="l00462"></a>00462 <span class="comment">  Each channel can also be set to invert the given PWM signal.</span>
<a name="l00463"></a>00463 <span class="comment">  </span>
<a name="l00464"></a>00464 <span class="comment">  \section properties Properties</span>
<a name="l00465"></a>00465 <span class="comment">  Each PWM Out has four properties:</span>
<a name="l00466"></a>00466 <span class="comment">  - duty</span>
<a name="l00467"></a>00467 <span class="comment">  - invA</span>
<a name="l00468"></a>00468 <span class="comment">  - invB</span>
<a name="l00469"></a>00469 <span class="comment">  - active</span>
<a name="l00470"></a>00470 <span class="comment"></span>
<a name="l00471"></a>00471 <span class="comment">  \par Duty</span>
<a name="l00472"></a>00472 <span class="comment">  The \b duty property corresponds to the duty at which a load connected to the output is being driven.</span>
<a name="l00473"></a>00473 <span class="comment">  This value can be both read and written.  The range of values expected by the board</span>
<a name="l00474"></a>00474 <span class="comment">  is from 0 - 1023.</span>
<a name="l00475"></a>00475 <span class="comment">  \par</span>
<a name="l00476"></a>00476 <span class="comment">  To generate a 75% on PWM signal, send a message like</span>
<a name="l00477"></a>00477 <span class="comment">  \verbatim /pwmout/1/duty 768 \endverbatim</span>
<a name="l00478"></a>00478 <span class="comment">  Leave the argument value off to read the duty:</span>
<a name="l00479"></a>00479 <span class="comment">  \verbatim /pwmout/1/duty \endverbatim</span>
<a name="l00480"></a>00480 <span class="comment">  </span>
<a name="l00481"></a>00481 <span class="comment">  \par invA</span>
<a name="l00482"></a>00482 <span class="comment">  The \b invA property corresponds to the inversion of the A channel of a PWM Out.</span>
<a name="l00483"></a>00483 <span class="comment">  This value can be both read and written, and the range of values expected is simply </span>
<a name="l00484"></a>00484 <span class="comment">  0 or 1.  1 means inverted and 0 means normal.  0 is the default.</span>
<a name="l00485"></a>00485 <span class="comment">  \par</span>
<a name="l00486"></a>00486 <span class="comment">  To set the A channel of the second PWM Out as inverted, send the message</span>
<a name="l00487"></a>00487 <span class="comment">  \verbatim /pwmout/1/invA 1 \endverbatim</span>
<a name="l00488"></a>00488 <span class="comment">  Note that the A channel of PWM Out 1 is Digital Out 2.</span>
<a name="l00489"></a>00489 <span class="comment">  </span>
<a name="l00490"></a>00490 <span class="comment">  \par invB</span>
<a name="l00491"></a>00491 <span class="comment">  The \b invB property corresponds to the inversion of the B channel of a PWM Out.</span>
<a name="l00492"></a>00492 <span class="comment">  This value can be both read and written, and the range of values expected is simply </span>
<a name="l00493"></a>00493 <span class="comment">  0 or 1.  1 means inverted and 0 means normal.  0 is the default.</span>
<a name="l00494"></a>00494 <span class="comment">  \par</span>
<a name="l00495"></a>00495 <span class="comment">  To set the B channel of the fourth PWM Out back to normal, send the message</span>
<a name="l00496"></a>00496 <span class="comment">  \verbatim /pwmout/1/invB 0 \endverbatim</span>
<a name="l00497"></a>00497 <span class="comment">  Note that the A channel of PWM Out 1 is Digital Out 7.</span>
<a name="l00498"></a>00498 <span class="comment">  </span>
<a name="l00499"></a>00499 <span class="comment">  \par Active</span>
<a name="l00500"></a>00500 <span class="comment">  The \b active property corresponds to the active state of the PWM Out.</span>
<a name="l00501"></a>00501 <span class="comment">  If the device is set to be active, no other tasks will be able to</span>
<a name="l00502"></a>00502 <span class="comment">  use its 2 digital out lines.  If you're not seeing appropriate</span>
<a name="l00503"></a>00503 <span class="comment">  responses to your messages to the PWM Out, check the whether it's </span>
<a name="l00504"></a>00504 <span class="comment">  locked by sending a message like</span>
<a name="l00505"></a>00505 <span class="comment">  \verbatim /pwmout/0/active \endverbatim</span>
<a name="l00506"></a>00506 <span class="comment">  \par</span>
<a name="l00507"></a>00507 <span class="comment">  If you're no longer using the PWM Out, it's a good idea to free the 2 Digital Outs by </span>
<a name="l00508"></a>00508 <span class="comment">  sending the message</span>
<a name="l00509"></a>00509 <span class="comment">  \verbatim /pwmout/0/active 0 \endverbatim</span>
<a name="l00510"></a>00510 <span class="comment">*/</span>
<a name="l00511"></a>00511 
<a name="l00512"></a>00512 <span class="preprocessor">#include "osc.h"</span>
<a name="l00513"></a>00513 <span class="preprocessor">#include "string.h"</span>
<a name="l00514"></a>00514 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00515"></a>00515 
<a name="l00516"></a>00516 <span class="comment">// Need a list of property names</span>
<a name="l00517"></a>00517 <span class="comment">// MUST end in zero</span>
<a name="l00518"></a>00518 <span class="keyword">static</span> <span class="keywordtype">char</span>* PwmOutOsc_Name = <span class="stringliteral">"pwmout"</span>;
<a name="l00519"></a>00519 <span class="keyword">static</span> <span class="keywordtype">char</span>* PwmOutOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"duty"</span>, <span class="stringliteral">"invA"</span>, <span class="stringliteral">"invB"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l00520"></a>00520 
<a name="l00521"></a>00521 <span class="keywordtype">int</span> PwmOutOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00522"></a>00522 <span class="keywordtype">int</span> PwmOutOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property );
<a name="l00523"></a>00523 
<a name="l00524"></a>00524 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00525"></a>00525 <span class="keyword">const</span> <span class="keywordtype">char</span>* PwmOutOsc_GetName( )
<a name="l00526"></a>00526 {
<a name="l00527"></a>00527   <span class="keywordflow">return</span> PwmOutOsc_Name;
<a name="l00528"></a>00528 }
<a name="l00529"></a>00529 
<a name="l00530"></a>00530 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00531"></a>00531 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00532"></a>00532 <span class="keywordtype">int</span> PwmOutOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00533"></a>00533 {
<a name="l00534"></a>00534   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gdaa5a3868eeedcf785c3d52f6b36ef34" title="Receive integers for a subsystem with multiple indexes.">Osc_IndexIntReceiverHelper</a>( channel, message, length, 
<a name="l00535"></a>00535                                      PWMOUT_COUNT, PwmOutOsc_Name,
<a name="l00536"></a>00536                                      PwmOutOsc_PropertySet, PwmOutOsc_PropertyGet, 
<a name="l00537"></a>00537                                      PwmOutOsc_PropertyNames );
<a name="l00538"></a>00538                                      
<a name="l00539"></a>00539   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00540"></a>00540     <span class="keywordflow">return</span> Osc_SendError( channel, PwmOutOsc_Name, status );
<a name="l00541"></a>00541   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00542"></a>00542 }
<a name="l00543"></a>00543 
<a name="l00544"></a>00544 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00545"></a>00545 <span class="keywordtype">int</span> PwmOutOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00546"></a>00546 {
<a name="l00547"></a>00547   <span class="keywordflow">switch</span> ( property )
<a name="l00548"></a>00548   {
<a name="l00549"></a>00549     <span class="keywordflow">case</span> 0: 
<a name="l00550"></a>00550       <a class="code" href="group___pwm_out.html#gacf6fba798cec68ce1ffe52e6908e380" title="Sets whether the specified PWM device is active.">PwmOut_SetActive</a>( index, value );
<a name="l00551"></a>00551       <span class="keywordflow">break</span>;      
<a name="l00552"></a>00552     <span class="keywordflow">case</span> 1:
<a name="l00553"></a>00553       <a class="code" href="group___pwm_out.html#g7274bfadd63e562e9dcad4b17bb19415" title="Set the speed of a PWM device.">PwmOut_SetDuty</a>( index, value );
<a name="l00554"></a>00554       <span class="keywordflow">break</span>;
<a name="l00555"></a>00555     <span class="keywordflow">case</span> 2:
<a name="l00556"></a>00556       <a class="code" href="group___pwm_out.html#gff93dbb3a903c93cfe40b2776b085187" title="Set whether the A channel associated with a PWM out should be inverted.">PwmOut_SetInvertA</a>( index, value );
<a name="l00557"></a>00557       <span class="keywordflow">break</span>;
<a name="l00558"></a>00558     <span class="keywordflow">case</span> 3:
<a name="l00559"></a>00559       <a class="code" href="group___pwm_out.html#gf19ae422767d01e401b2475c4d7609ea" title="Read whether the B channel of a PWM out is inverted.">PwmOut_SetInvertB</a>( index, value );
<a name="l00560"></a>00560       <span class="keywordflow">break</span>;
<a name="l00561"></a>00561   }
<a name="l00562"></a>00562   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00563"></a>00563 }
<a name="l00564"></a>00564 
<a name="l00565"></a>00565 <span class="comment">// Get the index LED, property</span>
<a name="l00566"></a>00566 <span class="keywordtype">int</span> PwmOutOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property )
<a name="l00567"></a>00567 {
<a name="l00568"></a>00568   <span class="keywordtype">int</span> value = 0;
<a name="l00569"></a>00569   <span class="keywordflow">switch</span> ( property )
<a name="l00570"></a>00570   {
<a name="l00571"></a>00571     <span class="keywordflow">case</span> 0:
<a name="l00572"></a>00572       value = <a class="code" href="group___pwm_out.html#g7d914ae310aee915ace97caf6d9458ef" title="Returns the active state of the LED.">PwmOut_GetActive</a>( index );
<a name="l00573"></a>00573       <span class="keywordflow">break</span>;
<a name="l00574"></a>00574     <span class="keywordflow">case</span> 1:
<a name="l00575"></a>00575       value = <a class="code" href="group___pwm_out.html#g6f26406258e6fc3886597a5a6402e9f8" title="Read the current duty of a PWM device.">PwmOut_GetDuty</a>( index );
<a name="l00576"></a>00576       <span class="keywordflow">break</span>;
<a name="l00577"></a>00577     <span class="keywordflow">case</span> 2:
<a name="l00578"></a>00578       value = <a class="code" href="group___pwm_out.html#g00d5e809db127e369284f5613ebb3ee2" title="Read whether the A channel of a PWM device is inverted.">PwmOut_GetInvertA</a>( index );
<a name="l00579"></a>00579       <span class="keywordflow">break</span>;
<a name="l00580"></a>00580     <span class="keywordflow">case</span> 3:
<a name="l00581"></a>00581       value = <a class="code" href="group___pwm_out.html#g44301bb525ba9249d9e33efa49e959c9" title="Read whether the B channel of a PWM device is inverted.">PwmOut_GetInvertB</a>( index );
<a name="l00582"></a>00582       <span class="keywordflow">break</span>;
<a name="l00583"></a>00583   }
<a name="l00584"></a>00584   <span class="keywordflow">return</span> value;
<a name="l00585"></a>00585 }
<a name="l00586"></a>00586 
<a name="l00587"></a>00587 
<a name="l00588"></a>00588 <span class="preprocessor">#endif</span>
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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